General information | |
Generation time: lun. oct. 2 15:59:04 2023 | |
Vendor name:EZ-WHEEL | |
Product name: SWD | |
File version:1 | |
File Revision: 1 | |
Order Code: | |
Created by: EZ-WHEEL | |
Modified by: EZ-WHEEL |
Comment | |
CANopen Object Dictionary Documentation for SWD |
Object: 0x1000 Device Type | |
---|---|
Object Code | Variable |
Description | This object shall provide information about the device type. The object describes the type of the logical device and its functionality. It shall be composed of a 16-bit field that describes the device profile or the application profile that is used and a second 16-bit field, which gives additional information about optional functionality of the logical device. The additional information parameter is device profile specific and application profile specific. Its specification does not fall within the scope of this specification; it is defined in the appropriate device profile and application profile. |
Sub | 0x00 |
Name | Device Type |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0xFFF192 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1001 Error Register | |
---|---|
Object Code | Variable |
Description | This object shall provide error information. The CANopen device maps internal errors into this object. It is a part of an emergency object. If a specific error occurs the corresponding bit shall be set to 1b. The generic error bit shall be supported. The other bits may be supported. The generic error shall be signaled at any error situation. |
Sub | 0x00 |
Name | Error Register |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Object: 0x1002 Manufacturer status register | |
---|---|
Object Code | Variable |
Description | This object shall provide a common status register for manufacturer-specific purposes. In this specification only the size and the location of this object are defined. |
Sub | 0x00 |
Name | Manufacturer status register |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | optional |
Object: 0x1003 Pre defined error field | |
---|---|
Object Code | Array |
Description | This object shall provide the errors that occurred on the CANopen device and were signaled via the emergency object. In doing so it provides an error history. VALUE DEFINITION The object entry at sub-index 00h shall contain the number of actual errors that are recorded in the array starting at sub-index 01h. NOTE: If no error is present the value of sub-index 00h is 00h and a read access to sub-index 01h is responded with an SDO abort message (abort code: 0800 0024h or 0800 0000h). Every new error shall be stored at sub-index 01h; older errors shall be moved to the next higher sub-index. Writing 00h to sub-index 00h shall delete the entire error history (empties the array). Other values than 00h are not allowed and shall lead to an abort message (error code: 0609 0030h). The error numbers are of type UNSIGNED32 (see Table 26) and are composed of a 16-bit error code and a 16-bit additional error information field, which is manufacturer-specific. The error code shall be contained in the lower 2 bytes (LSB) and the additional information shall be included in the upper 2 bytes (MSB). If this object is supported it shall consist of two object entries at least. The length entry on sub-index 00h and at least one error entry at sub-index 01h. |
Sub | 0x00 |
Name | Number of errors |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
PDO Mapping | no |
Sub | 0x01 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x02 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x03 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x04 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x05 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x06 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x07 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x08 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x09 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x0a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x0b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x0c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x0d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x0e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x0f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x10 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x11 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x12 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x13 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x14 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x15 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x16 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x17 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x18 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x19 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x1a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x1b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x1c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x1d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x1e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x1f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x20 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x21 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x22 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x23 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x24 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x25 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x26 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x27 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x28 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x29 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x2a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x2b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x2c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x2d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x2e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x2f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x30 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x31 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x32 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x33 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x34 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x35 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x36 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x37 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x38 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x39 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x3a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x3b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x3c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x3d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x3e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x3f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x40 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x41 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x42 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x43 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x44 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x45 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x46 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x47 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x48 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x49 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x4a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x4b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x4c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x4d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x4e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x4f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x50 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x51 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x52 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x53 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x54 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x55 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x56 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x57 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x58 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x59 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x5a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x5b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x5c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x5d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x5e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x5f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x60 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x61 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x62 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x63 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x64 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x65 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x66 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x67 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x68 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x69 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x6a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x6b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x6c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x6d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x6e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x6f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x70 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x71 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x72 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x73 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x74 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x75 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x76 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x77 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x78 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x79 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x7a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x7b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x7c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x7d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x7e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x7f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x80 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x81 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x82 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x83 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x84 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x85 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x86 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x87 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x88 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x89 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x8a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x8b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x8c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x8d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x8e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x8f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x90 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x91 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x92 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x93 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x94 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x95 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x96 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x97 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x98 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x99 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x9a |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x9b |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x9c |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x9d |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x9e |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0x9f |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa0 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa1 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa2 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa3 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa4 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa5 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa6 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa7 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa8 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xa9 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xaa |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xab |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xac |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xad |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xae |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xaf |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb0 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb1 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb2 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb3 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb4 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb5 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb6 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb7 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb8 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xb9 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xba |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xbb |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xbc |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xbd |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xbe |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xbf |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc0 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc1 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc2 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc3 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc4 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc5 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc6 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc7 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc8 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xc9 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xca |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xcb |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xcc |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xcd |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xce |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xcf |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd0 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd1 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd2 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd3 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd4 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd5 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd6 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd7 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd8 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xd9 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xda |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xdb |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xdc |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xdd |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xde |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xdf |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe0 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe1 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe2 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe3 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe4 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe5 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe6 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe7 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe8 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xe9 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xea |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xeb |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xec |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xed |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xee |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xef |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf0 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf1 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf2 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf3 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf4 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf5 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf6 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf7 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf8 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xf9 |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xfa |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xfb |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xfc |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xfd |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Sub | 0xfe |
Name | Standard error field |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Object: 0x1005 COB ID SYNC message | |
---|---|
Object Code | Variable |
Description | This object shall indicate the configured COB-ID of the synchronization object (SYNC). Further, it defines whether the CANopen device generates the SYNC. |
Sub | 0x00 |
Name | COB ID SYNC message |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x00000080 |
Low Limit | 128 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1008 Manufacturer device name | |
---|---|
Object Code | Variable |
Description | This object shall provide the name of the device as given by the manufacturer |
Sub | 0x00 |
Name | Manufacturer device name |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | EZ-Wheel |
PDO Mapping | no |
Object: 0x1009 Manufacturer hardware version | |
---|---|
Object Code | Variable |
Description | This object shall provide the manufacturer hardware version description. |
Sub | 0x00 |
Name | Manufacturer hardware version |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | |
PDO Mapping | no |
Object: 0x100a Manufacturer software version | |
---|---|
Object Code | Variable |
Description | This object shall provide the manufacturer software version description. |
Sub | 0x00 |
Name | Manufacturer software version |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | |
PDO Mapping | no |
Object: 0x1010 Store Parameters | |
---|---|
Object Code | Array |
Description | This object shall control the saving of parameters in non-volatile memory. |
Sub | 0x00 |
Name | Number of entries |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 7 |
Low Limit | 1 |
High Limit | 127 |
PDO Mapping | no |
Sub | 0x01 |
Name | Save all Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Save Communication Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | Save Application Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | Save Manufacturer Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | Save LSS Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | Save Motor Calibration And Internal Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | Save Test Results |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1011 Restore Default Parameters | |
---|---|
Object Code | Array |
Description | With this object the default values of parameters according to the communication profile, device profile, and application profile are restored. |
Sub | 0x00 |
Name | Number of entries |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 7 |
Low Limit | 1 |
High Limit | 127 |
PDO Mapping | no |
Sub | 0x01 |
Name | Restore all Default Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Restore Communication Default Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | Restore Application Default Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | Restore Manufacturer Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | Restore LSS Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | Restore Motor Calibration And Internal Parameters |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | Restore Test Results |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1014 COB-ID EMCY message | |
---|---|
Object Code | Variable |
Description | This object shall indicate the configured COB-ID for the EMCY write service. |
Sub | 0x00 |
Name | COB-ID EMCY message |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | $NODEID+0x00000080 |
PDO Mapping | no |
Object: 0x1017 Producer Heartbeat Time | |
---|---|
Object Code | Variable |
Description | The producer heartbeat time shall indicate the configured cycle time of the heartbeat produced by the device. The value shall be given in multiples of 1 ms. The value 0 shall disable the producer heartbeat. |
Sub | 0x00 |
Name | Producer Heartbeat Time |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 500 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x1018 Identity Object | |
---|---|
Object Code | Record |
Description | This object shall provide general identification information of the CANopen device. |
Sub | 0x00 |
Name | Number of entries |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 4 |
Low Limit | 1 |
High Limit | 4 |
PDO Mapping | no |
Sub | 0x01 |
Name | Vendor Id |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x00000515 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Product Code |
Data Type | UNSIGNED32 |
Access | ro |
Low Limit | 0 |
High Limit | 4294967295 |
Description | This object indicates the product ID of the SWD. When 0, no product ID was found in the product, else: ezSWDcore.0/C 1 ezSWDcore.4/C 2 ezSWDcore.14/C 3 ezSWDcore.25/C 4 ezSWDcore.50/C 5 ezSWDcore.100/C 6 ezSWD125IM.4/C 7 ezSWD125IM.4/C_PRO 8 ezSWD125IM.14/C 9 ezSWD125IM.25/C 10 ezSWDcore.0B/C 11 ezSWDcore.4B/C 12 ezSWDcore.14B/C 13 ezSWDcore.25B/C 14 ezSWDcore.50B/C 15 ezSWDcore.100B/C 16 ezSWD125IM.4B/C 17 ezSWD125IM.14B/C 18 ezSWD125IM.25B/C 19 ezSWD150IH.14/C-0 20 ezSWD150IH.25/C-0 21 ezSWD150IH.14/C-1 22 ezSWD150IH.25/C-1 23 ezSWD150IH.14B/C-0 24 ezSWD150IH.25B/C-0 25 ezSWD150IH.14B/C-1 26 ezSWD150IH.25B/C-1 27 ezSWD200IH.14/C-0 28 ezSWD200IH.25/C-0 29 ezSWD200IH.14/C-1 30 ezSWD200IH.25/C-1 31 ezSWD200IH.14B/C-0 32 ezSWD200IH.25B/C-0 33 ezSWD200IH.14B/C-1 34 ezSWD200IH.25B/C-1 35 E_202777_SMC_GM 36 E_202727_SMC_GN2 37 |
PDO Mapping | no |
Sub | 0x03 |
Name | Revision number |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x00020000 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | Serial number |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1029 Error behaviour | |
---|---|
Object Code | Array |
Description | If a serious CANopen device failure is detected in NMT state Operational, the CANopen device shall enter by default autonomously the NMT state Pre-operational. If the object is implemented, the CANopen device is configurable to enter alternatively the NMT state Stopped or remain in the current NMT state. CANopen device failures shall include the following communication errors: • Bus-off conditions of the CAN interface • Life guarding event with the state ‘occurred’ and the reason time out • Heartbeat event with state ‘occurred’ and the reason "time out" Severe CANopen device errors also may be caused by CANopen device internal failures. |
Sub | 0x00 |
Name | error_behaviour_highest_sub_index |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 3 |
Low Limit | 0 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | error_behaviour_communication_error |
Data Type | UNSIGNED8 |
Access | rw |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x02 |
Name | error_behaviour_syserr_for_error |
Data Type | UNSIGNED8 |
Access | rw |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | error_behaviour_syserr_for_warning |
Data Type | UNSIGNED8 |
Access | rw |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1200 SDO 1 server parameter | |
---|---|
Object Code | Record |
Description | In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID client to server |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | $NODEID+0x600 |
Low Limit | 1536 |
High Limit | 1663 |
PDO Mapping | no |
Sub | 0x02 |
Name | COB ID server to client |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | $NODEID+0x580 |
Low Limit | 1408 |
High Limit | 1535 |
PDO Mapping | no |
Object: 0x1201 SDO 2 server parameter | |
---|---|
Object Code | Record |
Description | In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID client to server |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | COB ID server to client |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Object: 0x1202 SDO 3 server parameter | |
---|---|
Object Code | Record |
Description | In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID client to server |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | COB ID server to client |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Object: 0x1203 SDO 4 server parameter | |
---|---|
Object Code | Record |
Description | In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID client to server |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | COB ID server to client |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Object: 0x1301 SRDO 1 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x02 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 1 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 1 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 254 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | (($NODEID)*2)+0xff |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | (($NODEID)*2)+0x100 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1302 SRDO 2 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x19 |
Low Limit | 1 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 254 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x103 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x104 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1309 SRDO 9 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x105 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x106 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x130a SRDO 10 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x19 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x107 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x108 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x130b SRDO 11 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x109 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x10A |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x130c SRDO 12 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x10B |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x10C |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x130d SRDO 13 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x10D |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x10E |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x130e SRDO 14 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x10F |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x110 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x130f SRDO 15 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x111 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x112 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1310 SRDO 16 communication parameter | |
---|---|
Object Code | Record |
Description | These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 0x06 |
Low Limit | 6 |
High Limit | 6 |
PDO Mapping | no |
Sub | 0x01 |
Name | Information direction |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x00 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x02 |
Name | tx_refresh time rx_SCT |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x32 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | tx_reserved rx_SRVT |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x14 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x04 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xFE |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x05 |
Name | COB ID 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x113 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | COB ID 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x114 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1381 SRDO 1 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200108 |
Low Limit | 0x66200108 |
High Limit | 0x66200108 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220108 |
Low Limit | 0x66220108 |
High Limit | 0x66220108 |
PDO Mapping | no |
Object: 0x1382 SRDO 2 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 16 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210108 |
Low Limit | 0x66210108 |
High Limit | 0x66210108 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230108 |
Low Limit | 0x66230108 |
High Limit | 0x66230108 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 2 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210208 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 2 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230208 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 3 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210308 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 3 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230308 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 4 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210408 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 4 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230408 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x09 |
Name | Mapping Entry 5 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210508 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0a |
Name | Mapping Entry 5 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230508 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0b |
Name | Mapping Entry 6 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210608 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0c |
Name | Mapping Entry 6 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230608 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0d |
Name | Mapping Entry 7 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210708 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0e |
Name | Mapping Entry 7 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230708 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0f |
Name | Mapping Entry 8 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66210808 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x10 |
Name | Mapping Entry 8 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66230808 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x1389 SRDO 9 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200208 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220208 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x138a SRDO 10 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 4 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66110020 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x661a0020 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 2 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66130020 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 2 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x661c0020 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x138b SRDO 11 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200308 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220308 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x138c SRDO 12 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200408 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220408 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x138d SRDO 13 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200508 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220508 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x138e SRDO 14 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200608 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220608 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x138f SRDO 15 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 4 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200708 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 1 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220708 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 plain |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66200808 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 inverted |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x66220808 |
PDO Mapping | no |
Object: 0x1390 SRDO 16 mapping parameter | |
---|---|
Object Code | Array |
Description | These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 16 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x26200208 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | const |
Defaultvalue | 0x26220208 |
PDO Mapping | no |
Object: 0x13fe Configuration valid | |
---|---|
Object Code | Variable |
Description | This object shall contain an acknowledgement flag for a valid configuration. After write access to any of the safety-relevant parameter, this object shall be automatically set to invalid configuration (00h). If the configuration is finished, the user writes the “valid” value to this object. |
Sub | 0x00 |
Name | Configuration valid |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0xA5 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x13ff Safety configuration signature | |
---|---|
Object Code | Array |
Description | Contains an acknowledgement flag for a valid configuration. The value for the valid flag is A5h (165d)all other values are not valid. After a write access to the safety-relevant parameter the entry of object13FEh is automatically 0 or rather “not valid” If the configuration is finished it shall be acknowledgedwith an entry A5h or rather “valid” in object 13FEh. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 16 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | SRDO 1 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x70AB |
PDO Mapping | no |
Sub | 0x02 |
Name | SRDO 2 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x8C5F |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x09 |
Name | SRDO 9 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x6C9B |
PDO Mapping | no |
Sub | 0x0a |
Name | SRDO 10 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x2274 |
PDO Mapping | no |
Sub | 0x0b |
Name | SRDO 11 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x78AE |
PDO Mapping | no |
Sub | 0x0c |
Name | SRDO 12 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x4052 |
PDO Mapping | no |
Sub | 0x0d |
Name | SRDO 13 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x9968 |
PDO Mapping | no |
Sub | 0x0e |
Name | SRDO 14 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x1BF6 |
PDO Mapping | no |
Sub | 0x0f |
Name | SRDO 15 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x3A94 |
PDO Mapping | no |
Sub | 0x10 |
Name | SRDO 16 signature |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x9941 |
PDO Mapping | no |
Object: 0x1400 RPDO 1 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x00000210 |
Low Limit | 0x200 |
High Limit | 0x27f |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1401 RPDO 2 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x80000310 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1402 RPDO 3 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x80000410 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1403 RPDO 4 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x00000510 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1404 RPDO 5 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1405 RPDO 6 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1406 RPDO 7 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1407 RPDO 8 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 5 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by RPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x80000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x01 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x03 |
Name | Inhibit time |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Sub | 0x05 |
Name | Event timer |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
PDO Mapping | no |
Object: 0x1600 RPDO 1 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60400010 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1601 RPDO 2 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x50008 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1602 RPDO 3 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x50008 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1603 RPDO 4 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60400010 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60420010 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1604 RPDO 5 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x50008 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1605 RPDO 6 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x50008 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1606 RPDO 7 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x50008 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1607 RPDO 8 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping parameters for the PDOs the CANopen device is able to receive. |
Sub | 0x00 |
Name | Number of mapped application objects in PDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x50008 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1800 TPDO 1 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x40000190 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1801 TPDO 2 communication parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0xC0000290 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1802 TPDO 3 Communication Parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x40000390 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission Type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1803 TPDO 4 Communication Parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x40000490 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission Type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1804 TPDO 5 Communication Parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0xC0000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission Type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1805 TPDO 6 Communication Parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0xC0000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission Type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1806 TPDO 7 Communication Parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0xC0000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission Type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1807 TPDO 8 Communication Parameter | |
---|---|
Object Code | Record |
Description | This object contains the communication parameters for the PDOs the CANopen device is able to transmit. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 2 |
High Limit | 5 |
PDO Mapping | no |
Sub | 0x01 |
Name | COB ID used by TPDO |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0xC0000000 |
PDO Mapping | no |
Sub | 0x02 |
Name | Transmission Type |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x1a00 TPDO 1 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1a01 TPDO 2 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1a02 TPDO 3 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60640020 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1a03 TPDO 4 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x606c0020 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1a04 TPDO 5 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1a05 TPDO 6 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1a06 TPDO 7 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x1a07 TPDO 8 mapping parameter | |
---|---|
Object Code | Record |
Description | This object contains the mapping for the PDOs the device is able to transmit. |
Sub | 0x00 |
Name | Number of mapped application objects in TPDO |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | Mapping Entry 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x60410010 |
PDO Mapping | no |
Sub | 0x02 |
Name | Mapping Entry 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x03 |
Name | Mapping Entry 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x04 |
Name | Mapping Entry 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x05 |
Name | Mapping Entry 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x06 |
Name | Mapping Entry 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x07 |
Name | Mapping Entry 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Sub | 0x08 |
Name | Mapping Entry 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x0000 |
PDO Mapping | no |
Object: 0x2064 accurate_position_value | |
---|---|
Object Code | Variable |
Description | Accurate position encoder from analog hall sensor. |
Sub | 0x00 |
Name | accurate_position_value |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | |
PDO Mapping | optional |
Object: 0x208f accurate_position_resolution | |
---|---|
Object Code | Variable |
Description | Resolution of the accurate position value. Unit: increment per round. |
Sub | 0x00 |
Name | accurate_position_resolution |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 120 |
PDO Mapping | optional |
Object: 0x2100 Configure Bit Timing Parameters | |
---|---|
Object Code | Variable |
Description | Configure CAN connection Baudrate : 0 : Baud rate of 1 MBit/sec 1 : Baud rate of 800 kBit/sec 2 : Baud rate of 500 kBit/sec 3 : Baud rate of 250 kBit/sec 4 : Baud rate of 125 kBit/sec 5 : Baud rate of 100 kBit/sec 6 : Baud rate of 50 kBit/sec 7 : Baud rate of 20 kBit/sec 8 : Baud rate of 10 kBit/sec |
Sub | 0x00 |
Name | Configure Bit Timing Parameters |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4 |
PDO Mapping | no |
Object: 0x2101 Node ID | |
---|---|
Object Code | Variable |
Description | Configure CAN Node ID |
Sub | 0x00 |
Name | Node ID |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0x10 |
Low Limit | 1 |
High Limit | 127 |
PDO Mapping | no |
Object: 0x2102 R Termination | |
---|---|
Object Code | Variable |
Description | Configure CAN termination resistor |
Sub | 0x00 |
Name | R Termination |
Data Type | BOOLEAN |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x2155 motctrl_speed_pid_p | |
---|---|
Object Code | Variable |
Description | Configure motor control PID, proportional gain |
Sub | 0x00 |
Name | motctrl_speed_pid_p |
Data Type | UNSIGNED32 |
Access | rw |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x2156 motctrl_speed_pid_i | |
---|---|
Object Code | Variable |
Description | Configure motor control PID, integral gain |
Sub | 0x00 |
Name | motctrl_speed_pid_i |
Data Type | UNSIGNED32 |
Access | rw |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x2157 motctrl_speed_pid_d | |
---|---|
Object Code | Variable |
Description | Configure motor control PID, derivative gain |
Sub | 0x00 |
Name | motctrl_speed_pid_d |
Data Type | UNSIGNED32 |
Access | rw |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x2158 motctrl_speed_pid_tw | |
---|---|
Object Code | Variable |
Description | Configure motor control PID, integral anti-windup time constant. Common value: sqrt(kd / ki). Implementation is: Tw = motctrl_speed_pid_tw / 1000. Example: to set Tw to 0.316, write 316 in motctrl_speed_pid_tw. |
Sub | 0x00 |
Name | motctrl_speed_pid_tw |
Data Type | UNSIGNED32 |
Access | rw |
PDO Mapping | no |
Object: 0x2159 motctrl_speed_pid_tn | |
---|---|
Object Code | Variable |
Description | Configure motor control PID, derivative filter time constant. Implementation is: Tn = motctrl_speed_pid_tn / 1000. Example: to set Tn to 0.6, write 600 in motctrl_speed_pid_tn. |
Sub | 0x00 |
Name | motctrl_speed_pid_tn |
Data Type | UNSIGNED32 |
Access | rw |
PDO Mapping | no |
Object: 0x2201 Hardware version | |
---|---|
Object Code | Variable |
Description | 0 = Hardware version init 1 = A 2 = B 3 = C 4 = D 5 = E 6 = F 7 = G 8 = H 9 = I 10 = J |
Sub | 0x00 |
Name | Hardware version |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x2202 Software version | |
---|---|
Object Code | Variable |
Description | 1st octet : not used 2nd octet : version major 3rd octet : version minor 4th octet : version patch |
Sub | 0x00 |
Name | Software version |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x2204 Product ID | |
---|---|
Object Code | Variable |
Description | This object indicates the product ID of the SWD. When 0, no product ID was found in the product, else: ezSWDcore.0/C 1 ezSWDcore.4/C 2 ezSWDcore.14/C 3 ezSWDcore.25/C 4 ezSWDcore.50/C 5 ezSWDcore.100/C 6 ezSWD125IM.4/C 7 ezSWD125IM.4/C_PRO 8 ezSWD125IM.14/C 9 ezSWD125IM.25/C 10 ezSWDcore.0B/C 11 ezSWDcore.4B/C 12 ezSWDcore.14B/C 13 ezSWDcore.25B/C 14 ezSWDcore.50B/C 15 ezSWDcore.100B/C 16 ezSWD125IM.4B/C 17 ezSWD125IM.14B/C 18 ezSWD125IM.25B/C 19 ezSWD150IH.14/C-0 20 ezSWD150IH.25/C-0 21 ezSWD150IH.14/C-1 22 ezSWD150IH.25/C-1 23 ezSWD150IH.14B/C-0 24 ezSWD150IH.25B/C-0 25 ezSWD150IH.14B/C-1 26 ezSWD150IH.25B/C-1 27 ezSWD200IH.14/C-0 28 ezSWD200IH.25/C-0 29 ezSWD200IH.14/C-1 30 ezSWD200IH.25/C-1 31 ezSWD200IH.14B/C-0 32 ezSWD200IH.25B/C-0 33 ezSWD200IH.14B/C-1 34 ezSWD200IH.25B/C-1 35 E_202777_SMC_GM 36 E_202727_SMC_GN2 37 |
Sub | 0x00 |
Name | Product ID |
Data Type | UNSIGNED32 |
Access | ro |
Low Limit | 0 |
High Limit | 0xffffffff |
PDO Mapping | no |
Object: 0x2205 Software Reference | |
---|---|
Object Code | Variable |
Description | FW_UNKNOWN = 0U FW_SWD_RECOVERY =1U FW_SWD_CORE = 2U FW_SWD_150 = 3U Maintenance = 255U |
Sub | 0x00 |
Name | Software Reference |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x2400 control_ext | |
---|---|
Object Code | Record |
Description | Configure the output power supply, on CAN connector and/or on IO connector. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | control_ext_can_alim |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x02 |
Name | control_ext_canio_alim |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x2401 status_ext | |
---|---|
Object Code | Record |
Description | Get status of the output power supply, on CAN connector and/or on IO connector. |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | status_ext_can_alim |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x02 |
Name | status_ext_canio_alim |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x2620 Safety controlwords manufacturer | |
---|---|
Object Code | Record |
Description | Manufacturer safety control words |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 3 |
Low Limit | 0 |
High Limit | 255 |
Description | Manufacturer safety control words |
PDO Mapping | no |
Sub | 0x01 |
Name | safety_controlword_system |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x02 |
Name | safety_controlword_safein_1 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x03 |
Name | safety_controlword_safemotion |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Object: 0x2621 Safety statuswords manufacturer | |
---|---|
Object Code | Record |
Description | Manufacturer safety status words |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | safety_statusword_safeout |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x2622 Inverted Safety controlwords manufacturer | |
---|---|
Object Code | Record |
Description | Manufacturer inverted safety control words |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 3 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | inverted_safety_controlword_system |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x02 |
Name | inverted_safety_controlword_safein_1 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x03 |
Name | inverted_safety_controlword_safemotion |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Object: 0x2623 Inverted Safety statuswords manufacturer | |
---|---|
Object Code | Record |
Description | Manufacturerinverted safety status words |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | inverted_safety_statusword_safeout |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x2624 ezw_safety_word_scw_mapping_permanent_cw1 | |
---|---|
Object Code | Array |
Description | This object allows to map safety functions to a virtual controlword which is always enabled. Any safety function mapped to scw_cw_permanent_can_1_bit0 ... scw_cw_permanent_can_1_bit7 will be permanently activated. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_permanent_cw1 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_permanent_can_1_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_permanent_can_1_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_permanent_can_1_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_permanent_can_1_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_permanent_can_1_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_permanent_can_1_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_permanent_can_1_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_permanent_can_1_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x2625 ezw_safety_word_scw_mapping_permanent_cw2 | |
---|---|
Object Code | Array |
Description | This object allows to map safety functions to a virtual controlword which is always enabled. Any safety function mapped to scw_cw_permanent_can_2_bit0 ... scw_cw_permanent_can_2_bit7 will be permanently activated. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_permanent_cw2 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_permanent_can_2_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_permanent_can_2_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_permanent_can_2_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_permanent_can_2_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_permanent_can_2_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_permanent_can_2_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_permanent_can_2_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_permanent_can_2_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x2630 Safety Function Output | |
---|---|
Object Code | Record |
Description | Consolidated status of safety function command. If a safety command is active somewhere, the output will be active The mapping is fixed: Bit 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 safety_function_output_1: STO, SBC_1, SBC_2, SBC_3, SLS_1, SLS_2, SLS_3, SLS_4, SLS_5, SLS_6, SLS_7, SLS_8, SDI_P_1, SDI_P_2, SDI_N_1, SDI_N_2 safety_function_output_2: ERROR_ACK, RESTART_ACK, SBU, SMS, SLSa_1, SLSa_2, SLSa_3, SLSa_4, SLSa_5, SLSa_6, SLSa_7, SLSa_8 |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | safety_function_output_1 |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | |
PDO Mapping | optional, TPDO only |
Sub | 0x02 |
Name | safety_function_output_2 |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | |
PDO Mapping | optional, TPDO only |
Object: 0x2660 Brake present | |
---|---|
Object Code | Variable |
Description | This object shall be used to configure if an external brake is used on the product. A value of TRUE indicates that an external brake is intended to be connected on the brake connector of the product, while a value of FALSE indicates that no external brake shall be connected. Upon transitionning to OPERATION_ENABLED, the product will check the external brake presence according to this object. This parameter limits the available SBC modes to: - when TRUE: SBC_0, SBC_1, SBC_2 - when FALSE: SBC_0, SBC_3 |
Sub | 0x00 |
Name | Brake present |
Data Type | BOOLEAN |
Access | rw |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x26f1 ezw_safety_word_scw_mapping_safein | |
---|---|
Object Code | Array |
Description | Manufacturer safety control word mapping for Safe Inputs |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_safein |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 6 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_safein_bit0 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_safein_bit1 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_safein_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_safein_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_safein_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_safein_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x26f8 ezw_safety_word_ssw_mapping_safeout | |
---|---|
Object Code | Array |
Description | Manufacturer safety status word mapping for Safe Outputs |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_safeout |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 4 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_sw_safeout_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_sw_safeout_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_sw_safeout_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_sw_safeout_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x3040 SBU command | |
---|---|
Object Code | Variable |
Description | This object shall provide the SBU command, received by a controlword. A value of TRUE indicates that the command is inactive, while a value of FALSE indicates that the command is active. |
Sub | 0x00 |
Name | SBU command |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
PDO Mapping | no |
Object: 0x3041 SBU status | |
---|---|
Object Code | Variable |
Description | This object shall provide the SBU status. A value of FALSE indicates that the SBU is inactive, while a value of TRUE indicates that the SBU is active. |
Sub | 0x00 |
Name | SBU status |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | |
PDO Mapping | optional, TPDO only |
Object: 0x3050 SLSa commands | |
---|---|
Object Code | Array |
Description | This parameter shall provide the SLSa commands, which may be received within a controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SLSa function, and a value of FALSE shall activate the dedicated SLSa function. The sub-indices shall correspond to the sub-indices of the following parameters: 3051h,3052h, 3053h, 3054h, 3055h, 3056h, 3057h, 3058h and 3059h. |
Sub | 0x00 |
Name | SLSa commands |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa command 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa command 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa command 3 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa command 4 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa command 5 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa command 6 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa command 7 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa command 8 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x3051 SLSa time to positive velocity monitoring | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured delay of activating the SLSa function for the positive velocity. |
Sub | 0x00 |
Name | SLSa time to positive velocity monitoring |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa time to positive velocity monitoring 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa time to positive velocity monitoring 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa time to positive velocity monitoring 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa time to positive velocity monitoring 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa time to positive velocity monitoring 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa time to positive velocity monitoring 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa time to positive velocity monitoring 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa time to positive velocity monitoring 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x3052 SLSa positive velocity limit u32 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured positive speed limit. |
Sub | 0x00 |
Name | SLSa positive velocity limit u32 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa positive velocity limit u32 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa positive velocity limit u32 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa positive velocity limit u32 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa positive velocity limit u32 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa positive velocity limit u32 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa positive velocity limit u32 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa positive velocity limit u32 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa positive velocity limit u32 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x3053 SLSa time for positive velocity in limits | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured time for the positive velocity within the configured limits. |
Sub | 0x00 |
Name | SLSa time for positive velocity in limits |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa time for positive velocity in limits 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa time for positive velocity in limits 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa time for positive velocity in limits 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa time for positive velocity in limits 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa time for positive velocity in limits 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa time for positive velocity in limits 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa time for positive velocity in limits 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa time for positive velocity in limits 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x3054 SLSa time to negative velocity monitoring | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured delay of activating the SLSa function for the negative velocity. |
Sub | 0x00 |
Name | SLSa time to negative velocity monitoring |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa time to negative velocity monitoring 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa time to negative velocity monitoring 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa time to negative velocity monitoring 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa time to negative velocity monitoring 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa time to negative velocity monitoring 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa time to negative velocity monitoring 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa time to negative velocity monitoring 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa time to negative velocity monitoring 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x3055 SLSa negative velocity limit u32 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured negative speed limit. |
Sub | 0x00 |
Name | SLSa negative velocity limit u32 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa negative velocity limit u32 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa negative velocity limit u32 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa negative velocity limit u32 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa negative velocity limit u32 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa negative velocity limit u32 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa negative velocity limit u32 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa negative velocity limit u32 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa negative velocity limit u32 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x3056 SLSa time for negative velocity in limits | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured time for the negative velocity within the configured limits. |
Sub | 0x00 |
Name | SLSa time for negative velocity in limits |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa time for negative velocity in limits 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa time for negative velocity in limits 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa time for negative velocity in limits 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa time for negative velocity in limits 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa time for negative velocity in limits 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa time for negative velocity in limits 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa time for negative velocity in limits 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa time for negative velocity in limits 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x3057 SLSa error reactions | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured SLSa error reactions, when the configured velocity or deceleration limits are exceeded. The value shall indicate, which command shall be preformed locally by means of a pointer (index and sub-index) to the command parameter. A value of 0000 0000h shall indicate that no reaction is required. |
Sub | 0x00 |
Name | SLSa error reactions |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa error reaction 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa error reaction 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa error reaction 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa error reaction 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa error reaction 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa error reaction 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa error reaction 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa error reaction 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
PDO Mapping | no |
Object: 0x3058 SLSa safety application configuration signature | |
---|---|
Object Code | Array |
Description | This object shall provide the configuration checksum for SLSa safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. |
Sub | 0x00 |
Name | SLSa safety application configuration signature |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa safety application configuration signature 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa safety application configuration signature 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa safety application configuration signature 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa safety application configuration signature 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa safety application configuration signature 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa safety application configuration signature 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa safety application configuration signature 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa safety application configuration signature 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xF94 |
PDO Mapping | no |
Object: 0x3059 SLSa statuses | |
---|---|
Object Code | Array |
Description | This parameter shall provide the current SLSa statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SLSa function is active, and a value of FALSE shall indicate that the dedicated SLSa function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 3050h, 3051h, 3052h, 3053h, 3054h, 3055h, 3056h, 3057h and 3058h. |
Sub | 0x00 |
Name | SLSa statuses |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLSa status 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLSa status 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLSa status 3 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLSa status 4 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLSa status 5 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLSa status 6 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLSa status 7 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLSa status 8 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6007 abort_connection_option_code | |
---|---|
Object Code | Variable |
Description | This object shall indicate what action shall be performed when one of the following events occurres: bus-off, heartbeat, life guarding, NMT stopped state entered, reset application, and reset communication. |
Sub | 0x00 |
Name | abort_connection_option_code |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | 2 |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | no |
Object: 0x603f error_code | |
---|---|
Object Code | Variable |
Description | This object shall provide the error code of the last error which occurred in the drive device. |
Sub | 0x00 |
Name | error_code |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | optional, TPDO only |
Object: 0x6040 controlword | |
---|---|
Object Code | Variable |
Description | This object shall indicate the received command controlling the PDS FSA. The bits 7, 3, 2, 1, and 0 shall be supported. The bits 0 to 9 shall be supported according to the mode of operation. If the related functionality is not available, an appropriate emergency message shall be generated. The manufacturer-specific (ms) bits may be supported. All implemented bits of the controlword are valid independent of the PDS FSA state. Starting of any movement is operation mode specific and is described in the related clause. |
Sub | 0x00 |
Name | controlword |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | optional, RPDO only |
Object: 0x6041 statusword | |
---|---|
Object Code | Variable |
Description | This object shall provide the status of the PDS FSA. The bits 10, 9, and 6 to 0 shall be supported. The oms bits shall be supported if the mode of operation is supported. If the related functionality of the oms bits is not available, the corresponding bit shall be 0b. The manufacturer-specific (ms) bits may be supported. All implemented bits of the status word are valid independent of the PDS FSA state. |
Sub | 0x00 |
Name | statusword |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | optional, TPDO only |
Object: 0x6042 vl_target_velocity | |
---|---|
Object Code | Variable |
Description | This object shall indicate the required velocity of the system. It shall be multiplied by the vl dimension factor and the vl set-point factor, if these are implemented. The value shall be given in user-defined velocity units or in revolutions per minute (r/min), if the vl dimension factor and the vl set-point factor are not implemented or have the value 1. Positive values shall indicate forward direction and negative values shall indicate reverse direction. |
Sub | 0x00 |
Name | vl_target_velocity |
Data Type | INTEGER16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional |
Object: 0x6043 vl_velocity_demand | |
---|---|
Object Code | Variable |
Description | This object shall provide the instantaneous velocity generated by the ramp function. It is an internal object of the drive device. The value shall be given in the very same unit as the vl target velocity. Positive values shall indicate forward direction and negative values shall indicate reverse direction. |
Sub | 0x00 |
Name | vl_velocity_demand |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional |
Object: 0x6044 vl_velocity_actual_value | |
---|---|
Object Code | Variable |
Description | This object shall provide the velocity at the motor spindle or load. Depending on the implementation (simple drive device, without sensor, with sensor, etc.), the drive shall provide the appropriate image of the actual velocity derived for example from velocity demand or a sensor signal. The value shall be given in the very same unit as the vl target velocity. Positive values shall indicate forward direction and negative values shall indicate reverse direction. |
Sub | 0x00 |
Name | vl_velocity_actual_value |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional |
Object: 0x6046 vl_velocity_min_max_amount | |
---|---|
Object Code | Array |
Description | This object shall indicate the configured minimum and maximum amount of velocity. The vl velocity max amount sub-object shall be mapped internally to the vl velocity max pos and vl velocity max neg values. The vl velocity min amount sub-object shall be mapped internally to the vl velocity min pos and vl velocity min neg values. |
Sub | 0x00 |
Name | vl_velocity_min_max_amount_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | vl_velocity_min_max_amount_vl_velocity_min_amount |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | vl_velocity_min_max_amount_vl_velocity_max_amount |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Object: 0x6048 vl_velocity_acceleration | |
---|---|
Object Code | Record |
Description | This object shall indicate the configured delta speed and delta time of the slope of the acceleration ramp. The value of delta speed shall be given in rotations per minute (r/min) or in user-defined velocity units if the vl dimension factor object is implemented and is not set to 1. The value of delta time shall be given in s. |
Sub | 0x00 |
Name | vl_velocity_acceleration_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | vl_velocity_acceleration_delta_speed |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | vl_velocity_acceleration_delta_time |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | optional, RPDO only |
Object: 0x6049 vl_velocity_deceleration | |
---|---|
Object Code | Record |
Description | This object shall indicate the configured delta speed and delta time of the slope of the deceleration ramp. The value of delta speed shall be given in rotations per minute (r/min) or in user-defined velocity units if the vl dimension factor object is implemented and is not set to 1. The value of delta time shall be given in s. If this object is not implemented, the value in object 6048h shall be used for vl velocity deceleration. |
Sub | 0x00 |
Name | vl_velocity_deceleration_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | vl_velocity_deceleration_delta_speed |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | vl_velocity_deceleration_delta_time |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | optional, RPDO only |
Object: 0x604a vl_velocity_quick_stop | |
---|---|
Object Code | Record |
Description | This object shall indicate the configured delta speed and delta time of the slope of the deceleration ramp for quick stop. The value of delta speed shall be given in rotations per minute (r/min) or in user-defined velocity units if the vl dimension factor object is implemented and is not set to 1. The value of delta time shall be given in s. |
Sub | 0x00 |
Name | vl_velocity_quick_stop_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | vl_velocity_quick_stop_delta_speed |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | vl_velocity_quick_stop_delta_time |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | optional, RPDO only |
Object: 0x604b vl_set_point_factor | |
---|---|
Object Code | Array |
Description | This object shall indicate the configured numerator and denominator of the vl set-point factor. The vl set-point factor serves to modify the resolution or directing range of the specified setpoint. It is aso included in calculation of the vl velocity demand, and vl velocity actual value. It does not influence the velocity limit function and the ramp function. The value shall be dimensionless and shall be given in the range from -32 768 to +32 767, but the value of 0 shall not be used. |
Sub | 0x00 |
Name | vl_set_point_factor_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | vl_set_point_factor_numerator |
Data Type | INTEGER16 |
Access | rw |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | vl_set_point_factor_denominator |
Data Type | INTEGER16 |
Access | rw |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional, RPDO only |
Object: 0x604c vl_dimension_factor | |
---|---|
Object Code | Array |
Description | This object shall indicate the configured numerator and denominator of the vl dimension factor. The vl dimension factor serves to include gearing in calculation or serves to scale the frequencies or specific units of the user. It influences the vl target velocity, vl velocity demand, vl velocity actual value as well as the velocity limit function and the ramp function. Calculating the vl dimension factor: Every user-specific velocity consists of specific units referred to specific units of time (e.g. 1/s, bottles/min, m/s, etc.). The purpose of the vl dimension factor is to convert the specific velocity units to the revolutions/minute. Velocity [user-defined units] * vl dimension factor [r/min/user-defined units] = Velocity [r/min] The values shall be in the range of -2 147 483 648 to +2 147 483 647, but the value of 0 shall be not used. |
Sub | 0x00 |
Name | vl_dimension_factor_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | vl_dimension_factor_numerator |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | 1 |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | vl_dimension_factor_denominator |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | 1 |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, RPDO only |
Object: 0x605a quick_stop_option_code | |
---|---|
Object Code | Variable |
Description | This object shall indicate what action is performed when the quick stop function is executed. The slow down ramp is the deceleration value of the used mode of operations. |
Sub | 0x00 |
Name | quick_stop_option_code |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | 6 |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | no |
Object: 0x605b shutdown_option_code | |
---|---|
Object Code | Variable |
Description | This object shall indicate what action is performed if there is a transition from operation enabled state to ready to switch on state. The slow down ramp is the deceleration value of the used mode of operations. |
Sub | 0x00 |
Name | shutdown_option_code |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | no |
Object: 0x605c disable_operation_option_code | |
---|---|
Object Code | Variable |
Description | This object shall indicate what action is performed if there is a transition from operation enabled state to switched on state. The slow down ramp is the deceleration value of the used mode of operations. |
Sub | 0x00 |
Name | disable_operation_option_code |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | no |
Object: 0x605d halt_option_code | |
---|---|
Object Code | Variable |
Description | This object shall indicate what action is performed when the halt function is executed. The slow down ramp is the deceleration value of the used mode of operations. |
Sub | 0x00 |
Name | halt_option_code |
Data Type | INTEGER16 |
Access | rw |
Defaultvalue | 1 |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | no |
Object: 0x605e fault_reaction_option_code | |
---|---|
Object Code | Variable |
Description | This object shall indicate what action is performed when fault is detected in the PDS. The slow down ramp is the deceleration value of the used mode of operations. |
Sub | 0x00 |
Name | fault_reaction_option_code |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | no |
Object: 0x6060 modes_of_operation | |
---|---|
Object Code | Variable |
Description | This object shall indicate the requested operation mode. |
Sub | 0x00 |
Name | modes_of_operation |
Data Type | INTEGER8 |
Access | rw |
Defaultvalue | 2 |
Low Limit | -128 |
High Limit | 127 |
PDO Mapping | optional, RPDO only |
Object: 0x6061 modes_of_operation_display | |
---|---|
Object Code | Variable |
Description | This object shall provide the actual operation mode. |
Sub | 0x00 |
Name | modes_of_operation_display |
Data Type | INTEGER8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | -128 |
High Limit | 127 |
PDO Mapping | optional, TPDO only |
Object: 0x6064 position_value | |
---|---|
Object Code | Variable |
Description | This object shall provide the actual value of the position measurement device. The value shall be given in user-defined position units. |
Sub | 0x00 |
Name | position_value |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, TPDO only |
Object: 0x606c velocity_actual_value | |
---|---|
Object Code | Variable |
Description | This object shall provide the actual velocity value derived either from the velocity sensor or the position sensor. The value shall be given in user-defined velocity units. |
Sub | 0x00 |
Name | velocity_actual_value |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, TPDO only |
Object: 0x607e polarity | |
---|---|
Object Code | Variable |
Description | This object shall indicate if the position demand value shall be multiplied by 1 of by –1. The polarity flag shall have no influence on the homing mode. The position polarity bit shall be used only for profile position (pp) mode and cyclic sync position mode (csp). The velocity polarity bit shall be used only for profile velocity (pv) mode and cyclic sync velocity mode (csv). |
Sub | 0x00 |
Name | polarity |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Object: 0x608f position_encoder_resolution | |
---|---|
Object Code | Array |
Description | This object shall indicate the configured encoder increments and the number of motor revolutions. The position encoder resolution shall be calculated by the following formula: position encoder resolution = encoder increments / motor revolutions All values shall be dimensionless. |
Sub | 0x00 |
Name | position_encoder_resolution_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | position_encoder_resolution_encoder_increments |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | position_encoder_resolution_motor_revolutions |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Object: 0x6090 velocity_encoder_resolution | |
---|---|
Object Code | Array |
Description | This object shall indicate the configured encoder increments per second and the motor revolutions per second. The velocity encoder resolution shall be calculated by the following formula: velocity encoder resolution = (encoder increments/s) / (motor revolutions/s) All values shall be dimensionless. |
Sub | 0x00 |
Name | velocity_encoder_resolution_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | velocity_encoder_resolution_encoder_increments_per_second |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | velocity_encoder_resolution_motor_revolutions_per_second |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Object: 0x6091 gear_ratio | |
---|---|
Object Code | Array |
Description | This object shall indicate the configured number of motor shaft revolutions and the number of driving shaft revolutions. The gear ratio shall be calculated by the following formula: gear ratio = motor shaft revolutions / driving shaft revolutions All values shall be dimensionless. |
Sub | 0x00 |
Name | gear_ratio_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | gear_ratio_motor_revolutions |
Data Type | UNSIGNED32 |
Access | rw |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | gear_ratio_shaft_revolutions |
Data Type | UNSIGNED32 |
Access | rw |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Object: 0x6092 feed_constant | |
---|---|
Object Code | Array |
Description | This object shall indicate the configured feed constant, which is the measurement distance per one revolution of the driving shaft of the gearbox. The feed constant shall be calculated by the following formula: feed constant = feed / driving shaft revolutions The feed shall be given in user-defined position units, and the driving shaft revolutions value shall be dimensionless. |
Sub | 0x00 |
Name | feed_constant_highest_subindex |
Data Type | UNSIGNED8 |
Access | const |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 2 |
PDO Mapping | no |
Sub | 0x01 |
Name | feed_constant_feed |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | feed_constant_shaft_revolutions |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, RPDO only |
Object: 0x6402 motor_type | |
---|---|
Object Code | Variable |
Description | This object shall indicate the type of motor attached to and driven by the drive device. |
Sub | 0x00 |
Name | motor_type |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x6403 motor_catalogue_number | |
---|---|
Object Code | Variable |
Description | This object shall indicate the motor catalogue number (nameplate number) provided by the motor manufacturer. If the number is not assigned yet, this object shall indicate this by /0 (empty string). |
Sub | 0x00 |
Name | motor_catalogue_number |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | TBD |
PDO Mapping | no |
Object: 0x6404 motor_manufacturer | |
---|---|
Object Code | Variable |
Description | This object shall indicate the name of the motor manufacturer. If the name is not assigned yet, this object shall indicate this by /0 (empty string). |
Sub | 0x00 |
Name | motor_manufacturer |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | ez-wheel |
PDO Mapping | no |
Object: 0x6405 http_motor_catalogue_address | |
---|---|
Object Code | Variable |
Description | This object shall indicate the assigned web-address of the motor catalogue. If the address is not assigned yet, this object shall indicate this by /0 (empty string). |
Sub | 0x00 |
Name | http_motor_catalogue_address |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | TBD |
PDO Mapping | no |
Object: 0x6406 motor_calibration_date | |
---|---|
Object Code | Variable |
Description | This object shall indicate the assigned date of the last motor inspection. If the date is not assigned yet, this object shall indicate this by a value of 0. |
Sub | 0x00 |
Name | motor_calibration_date |
Data Type | TIME_OF_DAY |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 0 |
PDO Mapping | no |
Object: 0x6407 motor_service_period | |
---|---|
Object Code | Variable |
Description | This object shall indicate the assigned motor service period. If the period is not assigned yet, this object shall indicate this by 0000 0000h. The value shall be given in multiples of hours. |
Sub | 0x00 |
Name | motor_service_period |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6502 supported_drive_modes | |
---|---|
Object Code | Variable |
Description | This object shall provide information on the supported drive modes. |
Sub | 0x00 |
Name | supported_drive_modes |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | optional, TPDO only |
Object: 0x6503 drive_catalogue_number | |
---|---|
Object Code | Variable |
Description | This object shall indicate the assigned manufacturers drive catalogue number (nameplate number). |
Sub | 0x00 |
Name | drive_catalogue_number |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | TBD |
PDO Mapping | no |
Object: 0x6505 http_drive_catalogue_address | |
---|---|
Object Code | Variable |
Description | This object shall indicate the assigned web address of the drive manufacturer. If the address is not assigned yet, this object shall indicate this by /0 (empty string). |
Sub | 0x00 |
Name | http_drive_catalogue_address |
Data Type | VISIBLE_STRING |
Access | const |
Defaultvalue | TBD |
PDO Mapping | no |
Object: 0x6600 Time unit | |
---|---|
Object Code | Variable |
Description | This parameter shall indicate the configured SI unit used for time parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/. |
Sub | 0x00 |
Name | Time unit |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0xFD030000 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6601 Position unit | |
---|---|
Object Code | Variable |
Description | This parameter shall indicate the configured SI unit used for position parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/. |
Sub | 0x00 |
Name | Position unit |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x00B50000 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6602 Velocity unit | |
---|---|
Object Code | Variable |
Description | This parameter shall indicate the configured SI unit used for velocity parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/. |
Sub | 0x00 |
Name | Velocity unit |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x00B44700 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6603 Acceleration unit | |
---|---|
Object Code | Variable |
Description | This parameter shall indicate the configured SI unit used for acceleration and deceleration parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/. |
Sub | 0x00 |
Name | Acceleration unit |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x03A00300 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6607 Safety application configuration valid | |
---|---|
Object Code | Variable |
Description | This object shall contain an acknowledgement flag for a valid safety application configuration. This object is automatically set to invalid (value 00h) if the cyclical check of the configured application parameters of one of the safety functions has failed. The object shall be set to valid (value A5h), after the safety application configuration is completed and the safety application configuration signature object for the appropriate safety function is validated. |
Sub | 0x00 |
Name | Safety application configuration valid |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Object: 0x6608 Safety application configuration failed | |
---|---|
Object Code | Array |
Description | This object shall indicate the information for which safety drive function the cyclical check of the configured application objects has failed. Figure 2 specifies the object structure. The field safety application configuration shall provide the number of the corresponding safety application configuration signature object. The field sub-index shall provide the number of the failed instance (corresponding sub-index of the safety application configuration signature object). A value of 0000 0000h shall indicate a reserved entry (no meaning). |
Sub | 0x00 |
Name | Safety application configuration failed Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 16 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | no |
Sub | 0x01 |
Name | Safety application configuration failed 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | Safety application configuration failed 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | Safety application configuration failed 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | Safety application configuration failed 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | Safety application configuration failed 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | Safety application configuration failed 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | Safety application configuration failed 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | Safety application configuration failed 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x09 |
Name | Safety application configuration failed 9 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0a |
Name | Safety application configuration failed 10 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0b |
Name | Safety application configuration failed 11 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0c |
Name | Safety application configuration failed 12 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0d |
Name | Safety application configuration failed 13 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0e |
Name | Safety application configuration failed 14 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x0f |
Name | Safety application configuration failed 15 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x10 |
Name | Safety application configuration failed 16 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6611 Safe position actual value i32 | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the safe position actual value. |
Sub | 0x00 |
Name | Safe position actual value i32 |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, TPDO only |
Object: 0x6613 Safe velocity actual value i32 | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the safe velocity actual value. |
Sub | 0x00 |
Name | Safe velocity actual value i32 |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, TPDO only |
Object: 0x661a Inverted safe position actual value i32 | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the bit-wise inverted safe position actual value. |
Sub | 0x00 |
Name | Inverted safe position actual value i32 |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, TPDO only |
Object: 0x661c Inverted safe velocity actual value i32 | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the bit-wise inverted safe velocity actual value. |
Sub | 0x00 |
Name | Inverted safe velocity actual value i32 |
Data Type | INTEGER32 |
Access | ro |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | optional, TPDO only |
Object: 0x6620 Safety controlwords | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the received safety controlwords. Figure 3 specifies the parameter structure. The commands (COM1 to COM8) given in the safety controlword shall request the activation (0b) and deactivation (1b) of dedicated safety functions of the drive. The relation of the COM fields to safety functions is configurable by means of the controlword mapping parameters (66F0h to 66F7h). In the safety controlword 1, the COM1 bit shall contain the STO command (see 6640h). In the safety controlword 1, the COM8 bit shall contain the error acknowledge command (see 6632h) by the host controller for errors reported in the safety statusword by the drive. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | safety_controlword_can1 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | safety_controlword_can2 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x03 |
Name | safety_controlword_can3 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x04 |
Name | safety_controlword_can4 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x05 |
Name | safety_controlword_can5 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x06 |
Name | safety_controlword_can6 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x07 |
Name | safety_controlword_can7 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x08 |
Name | safety_controlword_can8 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 127 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Object: 0x6621 Safety statuswords | |
---|---|
Object Code | Array |
Description | This parameter shall provide the safety statuswords. Figure 4 specifies the parameter structure. The states of dedicated safety functions (STA1 to STA8) shall provide information if it is activated (1b) or if it is not activated (0b). The relation of the STA fields to safety functions is configurable by means of the statusword mapping parameters (66F8h to 66FFh). In the safety statusword 1, the STA1 bit shall provide the STO status (see 6644h). In the safety statusword 1, the STA8 bit shall provide the error acknowledge status (see 6633h). |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | safety_statusword_can1 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x02 |
Name | safety_statusword_can2 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x03 |
Name | safety_statusword_can3 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x04 |
Name | safety_statusword_can4 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x05 |
Name | safety_statusword_can5 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x06 |
Name | safety_statusword_can6 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x07 |
Name | safety_statusword_can7 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x08 |
Name | safety_statusword_can8 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Object: 0x6622 Inverted safety controlwords | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the received inverted safety controlwords. They shall correspond to the controlwords in 6620h. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | inverted_safety_controlword_can1 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x02 |
Name | inverted_safety_controlword_can2 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x03 |
Name | inverted_safety_controlword_can3 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x04 |
Name | inverted_safety_controlword_can4 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x05 |
Name | inverted_safety_controlword_can5 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x06 |
Name | inverted_safety_controlword_can6 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x07 |
Name | inverted_safety_controlword_can7 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Sub | 0x08 |
Name | inverted_safety_controlword_can8 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | 128 |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, RPDO only |
Object: 0x6623 Inverted safety statuswords | |
---|---|
Object Code | Array |
Description | This parameter shall provide the bit-wise inverted safety statuswords. They shall correspond to the statuswords in 6621h. |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | inverted_safety_statusword_can1 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x02 |
Name | inverted_safety_statusword_can2 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x03 |
Name | inverted_safety_statusword_can3 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x04 |
Name | inverted_safety_statusword_can4 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x05 |
Name | inverted_safety_statusword_can5 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x06 |
Name | inverted_safety_statusword_can6 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x07 |
Name | inverted_safety_statusword_can7 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Sub | 0x08 |
Name | inverted_safety_statusword_can8 |
Data Type | UNSIGNED8 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 255 |
PDO Mapping | optional, TPDO only |
Object: 0x6630 Restart acknowledge command | |
---|---|
Object Code | Variable |
Description | This parameter shall restart the acknowledgement function, when a TRUE value is written. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | Restart acknowledge command |
Data Type | BOOLEAN |
Access | wo |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6631 Restart acknowledge status | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the status of the acknowledgement function. The value of TRUE shall indicate that the restart acknowledge request is pending. The value of FALSE shall indicate that the restart acknowledge function is activated. |
Sub | 0x00 |
Name | Restart acknowledge status |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6632 Error acknowledge command | |
---|---|
Object Code | Variable |
Description | This parameter shall restart the error acknowledgement function, when a TRUE value is written. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | Error acknowledge command |
Data Type | BOOLEAN |
Access | wo |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6633 Error acknowledge status | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the status of the error acknowledgement function. The value of TRUE shall indicate that the error acknowledge request is pending. The value of FALSE shall indicate that the error acknowledge function is activated. |
Sub | 0x00 |
Name | Error acknowledge status |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6640 STO command | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the STO command received within the controlword 1 (see object 66F0h for controlword 1 mapping) by means of an SRDO. A value of TRUE shall deactivate the STO function, and a value of FALSE shall activate the STO function. |
Sub | 0x00 |
Name | STO command |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6641 STO restart acknowledge behavior | |
---|---|
Object Code | Variable |
Description | This parameter shall indicate the configured STO restart acknowledge behavior. A value of TRUE shall indicate that the STO restart is manual, and a value of FALSE shall indicate that the STO restart is automatically performed. |
Sub | 0x00 |
Name | STO restart acknowledge behavior |
Data Type | BOOLEAN |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6643 STO activate SBC | |
---|---|
Object Code | Variable |
Description | This parameter shall command to close the brakes using the referenced SBC command. Figure 5 specifies the parameter structure. The value shall indicate, which command shall be performed by means of a pointer (index and sub-index) to the command parameter e.g. 6688 0100h. A value of 0000 0000h shall indicate that no brake shall be used. |
Sub | 0x00 |
Name | STO activate SBC |
Data Type | UNSIGNED32 |
Access | rw |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6644 STO status | |
---|---|
Object Code | Variable |
Description | This parameter shall provide the current STO status, which is mapped into the statusword 1 (see object 66F8h for statusword 1 mapping), provided via an SRDO. A value of TRUE shall indicate that the STO function is active, and a value of FALSE shall indicate that the STO function is not active. |
Sub | 0x00 |
Name | STO status |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6645 STO safety application configuration signature | |
---|---|
Object Code | Array |
Description | This object shall provide the configuration checksum for STO safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/). |
Sub | 0x00 |
Name | STO safety application configuration signature Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | STO safety application configuration signature 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xDF71 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x6660 SBC commands | |
---|---|
Object Code | Array |
Description | This parameter shall provide the SBC commands, which may be received within a controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SBC function, and a value of FALSE shall activate the dedicated SBC function. The sub-indices shall correspond to the sub-indices of the following parameters: 6661h and 6667h. |
Sub | 0x00 |
Name | SBC commands |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 3 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SBC command 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SBC command 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x03 |
Name | SBC command 3 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6661 SBC brake time delay | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured time to close the brake(s). For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SBC brake time delay |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 3 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SBC brake time delay 1 |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SBC brake time delay 2 |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SBC brake time delay 3 |
Data Type | UNSIGNED16 |
Access | ro |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x6662 SBC safety application configuration signature | |
---|---|
Object Code | Array |
Description | This object shall provide the configuration checksum for SBC safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/). The CRC generator polynomial is a CRC-16-CCITT polynomial and is illustrated in formula |
Sub | 0x00 |
Name | SBC safety application configuration signature |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 3 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SBC safety application configuration signature 1 |
Data Type | UNSIGNED16 |
Access | rw |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SBC safety application configuration signature 2 |
Data Type | UNSIGNED16 |
Access | rw |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SBC safety application configuration signature 3 |
Data Type | UNSIGNED16 |
Access | rw |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x6667 SBC statuses | |
---|---|
Object Code | Array |
Description | This parameter shall provide the current SBC statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SBC function is active, and a value of FALSE shall indicate that the dedicated SBC function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 6660h and 6661h. |
Sub | 0x00 |
Name | SBC statuses |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 3 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SBC status 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SBC status 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x03 |
Name | SBC status 3 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6690 SLS commands | |
---|---|
Object Code | Array |
Description | This parameter shall provide the SLS commands, which may be received within a controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SLS function, and a value of FALSE shall activate the dedicated SLS function. The sub-indices shall correspond to the sub-indices of the following parameters: 6691h, 6692h, 6693h, 6694h, 6695h, 6696h, 6697h, and 669Fh. |
Sub | 0x00 |
Name | SLS commands |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLS command 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLS command 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLS command 3 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLS command 4 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLS command 5 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLS command 6 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLS command 7 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLS command 8 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x6691 SLS time to velocity monitoring | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured delay of activating the SLS function. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SLS time to velocity monitoring |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLS time to velocity monitoring 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLS time to velocity monitoring 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLS time to velocity monitoring 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLS time to velocity monitoring 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLS time to velocity monitoring 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLS time to velocity monitoring 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLS time to velocity monitoring 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLS time to velocity monitoring 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x6693 SLS velocity limit u32 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured speed limit. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SLS velocity limit u32 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLS velocity limit u32 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLS velocity limit u32 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLS velocity limit u32 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLS velocity limit u32 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLS velocity limit u32 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLS velocity limit u32 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLS velocity limit u32 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLS velocity limit u32 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6694 SLS time for velocity in limits | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured time for the velocity within the configured limits. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SLS time for velocity in limits |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLS time for velocity in limits 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLS time for velocity in limits 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLS time for velocity in limits 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLS time for velocity in limits 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLS time for velocity in limits 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLS time for velocity in limits 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLS time for velocity in limits 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLS time for velocity in limits 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x6698 SLS error reactions | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured SLS error reactions, when the configured velocity or deceleration limits are exceeded. The value shall indicate, which command shall be preformed locally by means of a pointer (index and sub-index) to the command parameter. A value of 0000 0000h shall indicate that no reaction is required. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | SLS error reactions |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLS error reaction 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLS error reaction 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLS error reaction 3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLS error reaction 4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLS error reaction 5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLS error reaction 6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLS error reaction 7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLS error reaction 8 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Object: 0x6699 SLS safety application configuration signature | |
---|---|
Object Code | Array |
Description | This object shall provide the configuration checksum for SLS safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/). |
Sub | 0x00 |
Name | SLS safety application configuration signature |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLS safety application configuration signature 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLS safety application configuration signature 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLS safety application configuration signature 3 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLS safety application configuration signature 4 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLS safety application configuration signature 5 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLS safety application configuration signature 6 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLS safety application configuration signature 7 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLS safety application configuration signature 8 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xAD9A |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x669f SLS statuses | |
---|---|
Object Code | Array |
Description | This parameter shall provide the current SLS statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SLS function is active, and a value of FALSE shall indicate that the dedicated SLS function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 6690h, 6691h, 6692h, 6693h, 6694h, 6695h, 6696h, 6697h, and 6698h. |
Sub | 0x00 |
Name | SLS statuses |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SLS status 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SLS status 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x03 |
Name | SLS status 3 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x04 |
Name | SLS status 4 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x05 |
Name | SLS status 5 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x06 |
Name | SLS status 6 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x07 |
Name | SLS status 7 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x08 |
Name | SLS status 8 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x66a8 SMS statuses | |
---|---|
Object Code | Array |
Description | This parameter shall provide the current SMS statuses. A value of TRUE shall indicate that the dedicated SMS function is active, and a value of FALSE shall indicate that the dedicated SMS function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 66A9 h , 66AA h , 66AB h , 66AC h , and 66AD h. |
Sub | 0x00 |
Name | SMS statuses |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SMS status 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x66aa SMS velocity maximum positive u32 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured maximum velocity in positive direction. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SMS velocity maximum positive u32 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SMS velocity maximum positive u32 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66ac SMS velocity maximum negative u32 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured maximum velocity in negative direction. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SMS velocity maximum negative u32 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SMS velocity maximum negative u32 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66ad SMS error reactions | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured SMS error reactions, when the configured velocity limits are exceeded. The value shall indicate, which command shall be performed locally by means of a pointer (index and sub-index) to the command parameter. A value of 0000 0000 h shall indicate that no reaction is required. |
Sub | 0x00 |
Name | SMS error reactions |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SMS error reaction 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0x66400000 |
Low Limit | 0 |
High Limit | 1715470336 |
PDO Mapping | no |
Object: 0x66ae SMS safety application configuration signature | |
---|---|
Object Code | Array |
Description | This object shall provide the configuration checksum for SMS safety application parameters. The sub-indices 01 h to 254 h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/). |
Sub | 0x00 |
Name | SMS safety application configuration signature |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 1 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SMS safety application configuration signature 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0x7830 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x66d0 SDIp commands | |
---|---|
Object Code | Array |
Description | This parameter shall provide the SDIp commands, which may be received within a controlword(s) by means of an SRDO. For definition of SDIp see /ETG6100-2/. A value of TRUE shall deactivate the dedicated SDIp function, and a value of FALSE shall activate the dedicated SDIp function. The sub-indices shall correspond to the sub-indices of the following parameters: 66D2h, 66D3h, 66D4h, 66D5h, and 66DEh. |
Sub | 0x00 |
Name | SDIp commands |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SDIp command 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SDIp command 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x66d1 SDIn commands | |
---|---|
Object Code | Array |
Description | This parameter shall provide the SDIn commands, which may be received within a controlword(s) by means of an SRDO. For definition of SDIn see /ETG6100-2/. A value of TRUE shall deactivate the dedicated SDIn function, and a value of FALSE shall activate the dedicated SDIn function. The sub-indices shall correspond to the sub-indices of the following parameters: 66D2h, 66D3h, 66D4h, 66D5h, and 66DFh. |
Sub | 0x00 |
Name | SDIn commands |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SDIn command 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SDIn command 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x66d3 SDI position zero window u32 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured position window for the stop position. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SDI position zero window u32 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SDI position zero window u32 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | SDI position zero window u32 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66d5 SDI velocity zero window u32 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured velocity within the zero-window. For details see /ETG6100-2/. |
Sub | 0x00 |
Name | SDI velocity zero window u32 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SDI velocity zero window u32 1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | SDI velocity zero window u32 2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66d6 SDI safety application configuration signature | |
---|---|
Object Code | Array |
Description | This object shall provide the configuration checksum for SDI safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/). |
Sub | 0x00 |
Name | SDI safety application configuration signature |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SDI safety application configuration signature 1 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xE896 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Sub | 0x02 |
Name | SDI safety application configuration signature 2 |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | 0xE896 |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x66de SDIp statuses | |
---|---|
Object Code | Array |
Description | This parameter shall provide the current SDIp statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SDIp function is active, and a value of FALSE shall indicate that the dedicated SDIp function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 66D0h, 66D2h, 66D3h, 66D4h, and 66D5h. |
Sub | 0x00 |
Name | SDIp statuses |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SDIp status 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SDIp status 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x66df SDIn statuses | |
---|---|
Object Code | Array |
Description | This parameter shall provide the current SDIn statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SDIn function is active, and a value of FALSE shall indicate that the dedicated SDIn function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 66D1h, 66D2h, 66D3h, 66D4h, and 66D5h. |
Sub | 0x00 |
Name | SDIn statuses |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 2 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | SDIn status 1 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Sub | 0x02 |
Name | SDIn status 2 |
Data Type | BOOLEAN |
Access | ro |
Defaultvalue | |
Low Limit | 0 |
High Limit | 1 |
PDO Mapping | no |
Object: 0x66f0 ezw_safety_word_scw_mapping_cw1 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw1 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_1_bit0 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66400000 |
Low Limit | 0x66400000 |
High Limit | 0x66400000 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_1_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_1_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_1_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_1_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_1_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_1_bit6 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66300000 |
Low Limit | 0x66300000 |
High Limit | 0x66300000 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_1_bit7 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66320000 |
Low Limit | 0x66320000 |
High Limit | 0x66320000 |
PDO Mapping | no |
Object: 0x66f1 ezw_safety_word_scw_mapping_cw2 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw2 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_2_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_2_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_2_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_2_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_2_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_2_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_2_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_2_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66f2 ezw_safety_word_scw_mapping_cw3 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw3 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_3_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_3_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_3_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_3_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_3_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_3_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_3_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_3_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66f3 ezw_safety_word_scw_mapping_cw4 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw4 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_4_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_4_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_4_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_4_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_4_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_4_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_4_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_4_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66f4 ezw_safety_word_scw_mapping_cw5 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw5 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_5_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_5_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_5_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_5_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_5_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_5_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_5_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_5_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66f5 ezw_safety_word_scw_mapping_cw6 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw6 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_6_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_6_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_6_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_6_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_6_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_6_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_6_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_6_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66f6 ezw_safety_word_scw_mapping_cw7 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw7 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_7_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_7_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_7_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_7_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_7_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_7_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_7_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_7_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66f7 ezw_safety_word_scw_mapping_cw8 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored. |
Sub | 0x00 |
Name | ezw_safety_word_scw_mapping_cw8 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | scw_cw_can_8_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | scw_cw_can_8_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | scw_cw_can_8_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | scw_cw_can_8_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | scw_cw_can_8_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | scw_cw_can_8_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | scw_cw_can_8_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | scw_cw_can_8_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66f8 ezw_safety_word_ssw_mapping_sw1 | |
---|---|
Object Code | Array |
Description | This parameter shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the safety status information to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field is not used and has no meaning. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw1 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_1_bit0 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66440000 |
Low Limit | 0x66440000 |
High Limit | 0x66440000 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_1_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_1_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_1_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_1_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_1_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_1_bit6 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66310000 |
Low Limit | 0x66310000 |
High Limit | 0x66310000 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_1_bit7 |
Data Type | UNSIGNED32 |
Access | ro |
Defaultvalue | 0x66330000 |
Low Limit | 0x66330000 |
High Limit | 0x66330000 |
PDO Mapping | no |
Object: 0x66f9 ezw_safety_word_ssw_mapping_sw2 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw2 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_2_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_2_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_2_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_2_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_2_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_2_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_2_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_2_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66fa ezw_safety_word_ssw_mapping_sw3 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw3 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_3_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_3_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_3_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_3_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_3_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_3_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_3_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_3_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66fb ezw_safety_word_ssw_mapping_sw4 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw4 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_4_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_4_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_4_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_4_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_4_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_4_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_4_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_4_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66fc ezw_safety_word_ssw_mapping_sw5 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw5 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_5_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_5_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_5_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_5_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_5_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_5_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_5_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_5_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66fd ezw_safety_word_ssw_mapping_sw6 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw6 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_6_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_6_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_6_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_6_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_6_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_6_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_6_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_6_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66fe ezw_safety_word_ssw_mapping_sw7 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw7 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_7_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_7_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_7_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_7_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_7_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_7_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_7_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_7_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x66ff ezw_safety_word_ssw_mapping_sw8 | |
---|---|
Object Code | Array |
Description | This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure. |
Sub | 0x00 |
Name | ezw_safety_word_ssw_mapping_sw8 |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 8 |
Low Limit | 0 |
High Limit | 8 |
PDO Mapping | no |
Sub | 0x01 |
Name | ssw_sw_can_8_bit0 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x02 |
Name | ssw_sw_can_8_bit1 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x03 |
Name | ssw_sw_can_8_bit2 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x04 |
Name | ssw_sw_can_8_bit3 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x05 |
Name | ssw_sw_can_8_bit4 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x06 |
Name | ssw_sw_can_8_bit5 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x07 |
Name | ssw_sw_can_8_bit6 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Sub | 0x08 |
Name | ssw_sw_can_8_bit7 |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | 0 |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6800 Operating parameters | |
---|---|
Object Code | Variable |
Description | This object shall indicate the functions for code sequence, commissioning diagnostic control and scaling function control. Code sequence: The code sequence defines, whether increasing or decreasing position values are output, in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft. Commissioning diagnostic control: With the commissioning diagnostic function it is possible to check the encoder components responsible for position detection at encoder stand still. Commissioning bit: The commissioning bit in the operating parameter initiates the commissioning diagnostic. If errors are detected it will be announced by the according alarm bits. Scaling function control: With the scaling function the encoder numerical value is converted in software to change the physical resolution of the encoder. The measuring units per revolution (object 6001h) and total measuring range in measuring units (object 6002h) are the scaling parameters. The scaling function bit is set in the operating parameters. If the scaling function bit is set to zero, the scaling function is disabled. Measuring direction: Moving away from the electrical connection (point of view shall be the mounting face) shall be regarded as forward direction. |
Sub | 0x00 |
Name | Operating parameters |
Data Type | UNSIGNED16 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 65535 |
PDO Mapping | no |
Object: 0x6801 Measuring units per revolution | |
---|---|
Object Code | Variable |
Description | This object shall indicate the number of distinguishable steps per revolution. |
Sub | 0x00 |
Name | Measuring units per revolution |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6802 Total measuring range in measuring units | |
---|---|
Object Code | Variable |
Description | This object shall indicate the number of distinguishable steps over the total measuring range. |
Sub | 0x00 |
Name | Total measuring range in measuring units |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6803 Preset value | |
---|---|
Object Code | Variable |
Description | This object shall indicate the preset value for the output position value (object 6004h). This object supports adaptation of encoders zero point to the mechanical zero point of the system. For multi-sensor devices and linear sensors refer to object 6010h. The output position value shall be set to the preset value and the offset from the position value shall be calculated and stored in the encoder. |
Sub | 0x00 |
Name | Preset value |
Data Type | UNSIGNED32 |
Access | rw |
Defaultvalue | |
Low Limit | 0 |
High Limit | 4294967295 |
PDO Mapping | no |
Object: 0x6810 Preset values for multi sensor devices | |
---|---|
Object Code | Array |
Description | This object is similar to object 6003h and shall indicate the preset values for the output position values for multi-sensor devices (object 6020h). In sub-index 00h the number of supported channels is defined. The Preset function supports adaptation of the encoders zero point to the mechanical zero point of the system. The output position values in the sub-indices of object 6020h are set to the sub-indices of the parameter „Preset value“ in object 6010h, accordingly. The offset from the position value shall be calculated and stored in the encoder. This object is only mandatory for multi-sensor encoders (object 1000h encoder type: code 10d). |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 4 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | Preset value channel 1 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Sub | 0x02 |
Name | Preset value channel 2 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Sub | 0x03 |
Name | Preset value channel 3 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Sub | 0x04 |
Name | Preset value channel 4 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Object: 0x6820 Position values for multi sensor devices | |
---|---|
Object Code | Array |
Description | Similar to object 6004h this object shall indicate the output position value(s) for the communication objects 1800h (TPDO 1) and 1801h (TPDO 2). This object is only mandatory for multi-sensor encoders (object 1000h encoder type: code 10d). |
Sub | 0x00 |
Name | Highest sub-index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 4 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | Position value channel 1 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Sub | 0x02 |
Name | Position value channel 2 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Sub | 0x03 |
Name | Position value channel 3 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Sub | 0x04 |
Name | Position value channel 4 |
Data Type | INTEGER32 |
Access | rw |
Defaultvalue | |
Low Limit | -2147483648 |
High Limit | 2147483647 |
PDO Mapping | no |
Object: 0x6830 Speed value | |
---|---|
Object Code | Array |
Description | This object shall provide the output speed value(s). For linear encoders the speed-measuring step is defined in object 6005h, sub-index 02h. The speed value for rotary encoders shall be given in multiples of measuring units per second. This object is only mandatory for multisensor encoders (object 1000h encoder type: code 10d). |
Sub | 0x00 |
Name | Highest sub index supported |
Data Type | UNSIGNED8 |
Access | ro |
Defaultvalue | 4 |
Low Limit | 1 |
High Limit | 254 |
PDO Mapping | no |
Sub | 0x01 |
Name | Speed value channel 1 |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional |
Sub | 0x02 |
Name | Speed value channel 2 |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional |
Sub | 0x03 |
Name | Speed value channel 3 |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional |
Sub | 0x04 |
Name | Speed value channel 4 |
Data Type | INTEGER16 |
Access | ro |
Defaultvalue | |
Low Limit | -32768 |
High Limit | 32767 |
PDO Mapping | optional |